Vehicle stability control method and system

Abstract

The present invention provides a vehicle stability control method and system, the method comprising determining vehicle tire parameters based on vehicle tire parameters and driving parameters; constructing a vehicle multi-degree-of-freedom equation; judging the size of a true center-of-mass sideslip angle; if the true center-of-mass sideslip angle is less than a first preset value, determining a final output torque and applying the final output torque to the vehicle; if the true center-of-mass sideslip angle is not less than the first preset value and less than a second preset value, determining a final turning angle and applying the final turning angle to the vehicle; if the true center-of-mass sideslip angle is not less than the second preset value, determining a final braking torque and applying the final braking torque to the vehicle. The control method of the present invention has high accuracy, can improve the handling feel of the vehicle while ensuring the safety of the vehicle during driving.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobile control, and in particular relates to a vehicle stability control method and system. Background Art

[0002] For some vehicles with a high center of mass of the chassis, unstable situations such as skidding, rollover, and steering loss of control may easily occur depending on the driver's driving habits, road conditions, and weather conditions. Therefore, some existing technologies also have some methods of avoiding vehicle instability by changing the way the tires rotate or brake. However, the stability control methods in the existing technologies have low control accuracy and cannot effectively guarantee the safety and stability of the vehicle during driving. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a vehicle stability control method and system for solving the technical problems in the prior art.

[0004] In one aspect, the present invention provides the following technical solution, a vehicle stability control method, comprising:

[0005] Acquiring vehicle parameters and driving parameters, and determining vehicle tire parameters based on the vehicle parameters and the driving parameters;

[0006] Constructing a vehicle multi-degree-of-freedom equation based on the vehicle tire parameters, the vehicle's own parameters and the driving parameters;

[0007] Inputting the parameters in the multi-degree-of-freedom equation of the vehicle into a Kalman filter for filtering prediction, so as to output the real center-of-mass sideslip angle of the vehicle, and determining the magnitude of the real center-of-mass sideslip angle;

[0008] If the actual center-of-mass sideslip angle is less than a first preset value, determining a final output torque and applying the final output torque to the vehicle to achieve stability control of the vehicle;

[0009] If the true center-of-mass sideslip angle is not less than a first preset value and less than a second preset value, determining a final turning angle and applying the final turning angle to the vehicle to achieve stability control of the vehicle;

[0010] If the actual center of mass sideslip angle is not less than a second preset value, a final braking torque is determined and the final braking torque is applied to the vehicle to achieve stability control of the vehicle.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention first obtains the vehicle's own parameters and driving parameters, and determines the vehicle tire parameters based on the vehicle's own parameters and driving parameters; then constructs a vehicle multi-degree-of-freedom equation based on the vehicle tire parameters, the vehicle's own parameters and the driving parameters; the parameters in the vehicle multi-degree-of-freedom equation are input into a Kalman filter for filtering and prediction to output the vehicle's true center of mass sideslip angle, and to determine the magnitude of the true center of mass sideslip angle; then, if the true center of mass sideslip angle is less than a first preset value, the final output torque is determined and the final output torque is applied to the vehicle to achieve vehicle stability control; then, if the true center of mass sideslip angle is not less than a first preset value, .... If the actual sideslip angle of the center of mass is greater than the preset value and is less than the second preset value, the final turning angle is determined and the final turning angle is applied to the vehicle to achieve stability control of the vehicle; then if the actual sideslip angle of the center of mass is not less than the second preset value, the final braking torque is determined and the final braking torque is applied to the vehicle to achieve stability control of the vehicle. The present invention constructs a vehicle degree of freedom equation with high accuracy, and at the same time, according to the different sizes of the sideslip angle of the center of mass of the vehicle, different control methods are used to control the vehicle, which can effectively avoid unstable situations such as rollover and steering loss of control of the vehicle. The control method provided by the present invention has high accuracy, which can improve the handling of the vehicle while ensuring the safety of the vehicle during driving.

[0012] Preferably, the step of determining the vehicle tire parameters based on the self parameters and the driving parameters comprises:

[0013] Determine the left front wheel longitudinal force based on the self parameter and the driving parameter , left rear wheel longitudinal force , right front wheel longitudinal force The longitudinal force of the right rear wheel :

[0014] ;

[0015] ;

[0016] ;

[0017] ;

[0018] In the formula, They represent the vertical load of the left front wheel, the vertical load of the left rear wheel, the vertical load of the right front wheel and the vertical load of the right rear wheel respectively. Indicates the first to ninth left front wheel fitting coefficients, Indicates the first to ninth left rear wheel fitting coefficients, Indicates the first to ninth right front wheel fitting coefficients, Indicates the first to ninth right rear wheel fitting coefficients, They represent the longitudinal slip rate of the left front wheel, the longitudinal slip rate of the left rear wheel, the longitudinal slip rate of the right front wheel and the longitudinal slip rate of the right rear wheel respectively;

[0019] Determine the left front wheel lateral force based on the self parameter and the driving parameter , lateral force of left rear wheel , right front wheel lateral force The lateral force of the right rear wheel :

[0020] ;

[0021] ;

[0022] ;

[0023] ;

[0024] In the formula, represents the lateral fitting coefficient of the first to eighth left front wheels, Indicates the lateral fitting coefficients of the first to eighth left rear wheels, represents the lateral fitting coefficients of the first to eighth right front wheels, Indicates the lateral fitting coefficients of the first to eighth right rear wheels, They represent the left front wheel slip angle, left rear wheel slip angle, right front wheel slip angle and right rear wheel slip angle respectively.

[0025] Preferably, in the step of constructing a vehicle multi-degree-of-freedom equation based on the vehicle tire parameters, the vehicle's own parameters and the driving parameters, the vehicle multi-degree-of-freedom equation is specifically:

[0026] ;

[0027] ;

[0028] In the formula, , , , They represent the vehicle's lateral speed, longitudinal speed, yaw rate, and sideslip angle, respectively. Indicates time, represents the initial front wheel turning angle of the car, is the yaw moment, represents the moment of inertia of the vehicle around the Z axis, Indicates the distance from the vehicle's center of mass to the front axle, It represents the distance from the vehicle's center of mass to the rear axle. Indicates the distance between the front and rear axles.

[0029] Preferably, the step of determining the final output torque and applying the final output torque to the vehicle to achieve stability control of the vehicle includes:

[0030] Calculate the extra torque of the vehicle Total torque of the vehicle :

[0031] ;

[0032] ;

[0033] In the formula, They are the left front wheel output torque, left rear wheel output torque, right front wheel output torque, and right rear wheel output torque predicted by the Kalman filter. , Respectively represent the tire radius and the distance between the left and right wheels;

[0034] Based on the additional torque of the vehicle The total torque of the vehicle Calculate the final output torque of the left front wheel , To be determined, the final output torque of the left rear wheel , To be determined Final output torque of the right front wheel , To be determined Final output torque of right rear wheel :

[0035] ;

[0036] ;

[0037] ;

[0038] ;

[0039] In the formula, They represent the vertical load of the left front wheel, the vertical load of the left rear wheel, the vertical load of the right front wheel and the vertical load of the right rear wheel respectively. They represent the road adhesion coefficient of the left front wheel, the road adhesion coefficient of the left rear wheel, the road adhesion coefficient of the right front wheel and the road adhesion coefficient of the right rear wheel respectively;

[0040] Based on the final output torque of the left front wheel to be determined , To be determined, the final output torque of the left rear wheel , To be determined Final output torque of the right front wheel , To be determined Final output torque of right rear wheel Determine the final output torque of the left front wheel , Final output torque of left rear wheel , Final output torque of right front wheel , Final output torque of right rear wheel :

[0041] ; ;

[0042] ; ;

[0043] The final output torque of the left front wheel , Final output torque of left rear wheel , Final output torque of right front wheel , Final output torque of right rear wheel Acting on corresponding wheels to achieve stability control of the vehicle.

[0044] Preferably, the step of determining a final turning angle and applying the final turning angle to the vehicle to achieve stability control of the vehicle comprises:

[0045] Determine the optimum slip angle and the optimal yaw rate :

[0046] ;

[0047] ;

[0048] In the formula, Indicates the distance from the vehicle's center of mass to the front axle, It represents the distance from the vehicle's center of mass to the rear axle. Indicates the distance between the front and rear axles. represents the initial front wheel turning angle of the car, Indicates the vehicle mass, represents the acceleration due to gravity, represents the vehicle-road adhesion coefficient, Represent the lateral speed of the vehicle, represents the first variable parameter;

[0049] Based on the best quality slip angle With the optimal yaw rate Calculate the first turning angle separately With the second corner :

[0050] ;

[0051] ;

[0052] In the formula, , , Represent the second, third, and fourth variable parameters respectively, represents the moment of inertia of the vehicle around the Z axis, They represent the true sideslip angle of the center of mass and the true yaw rate, respectively. Indicates the vehicle stability factor;

[0053] Determine the optimum slip angle The first difference between the true center of mass sideslip angle and the optimal yaw rate and a second difference between the actual yaw angular velocity and the actual yaw angular velocity, and determining a first real interval, a first extended interval and a second real interval, a second extended interval within the range of the first difference and the second difference;

[0054] A final turning angle is determined based on the first real interval, the first extended interval, the second real interval, and the second extended interval, and stability control of the vehicle is implemented based on the final turning angle.

[0055] Preferably, the step of determining a final turning angle based on the first real interval, the first extended interval, the second real interval, and the second extended interval, and implementing stability control of the vehicle based on the final turning angle includes:

[0056] Determine the first intimacy based on the first real interval, the first extended interval, the second real interval, and the second extended interval Second degree of intimacy :

[0057] ;

[0058] ;

[0059] In the formula, Represent the first difference and the second difference respectively, denote the differentials of the first difference and the second difference respectively, Respectively represent the boundary values ​​of the first true interval and the second true interval, Represent the first true interval , the second true interval The boundary value of Respectively represent the boundary values ​​of the first expansion interval and the second expansion interval, Respectively represent the differentials of the boundary values ​​of the first expansion interval and the second expansion interval;

[0060] Based on the first intimacy Second degree of intimacy Determine the first final corner With the second final corner :

[0061] ;

[0062] ;

[0063] In the formula, are the first and second adjustment coefficients;

[0064] Based on the first final corner With the second final corner Determine the final corner :

[0065] ;

[0066] In the formula, To adjust the weight;

[0067] The final corner Acting on the front wheels of the vehicle to achieve stability control of the vehicle.

[0068] Preferably, the step of determining the final braking torque and applying the final braking torque to the vehicle to achieve stability control of the vehicle includes:

[0069] Calculate the yaw equivalent moment of the vehicle :

[0070] ;

[0071] In the formula, represents the moment of inertia of the vehicle around the Z axis, Indicates the distance from the vehicle's center of mass to the front axle, It represents the distance from the vehicle's center of mass to the rear axle. represents the initial front wheel turning angle of the car, Weight coefficient, They represent the true sideslip angle of the center of mass and the true yaw rate, respectively. They represent the lateral force of the left front wheel, the lateral force of the left rear wheel, the lateral force of the right front wheel, and the lateral force of the right rear wheel respectively. Indicates the distance between the front and rear axles. represents an adjusted positive real number;

[0072] Based on the yaw equivalent moment Determine the first braking torque , Second braking torque , the third braking torque , the fourth braking torque :

[0073] ; ;

[0074] ; ;

[0075] ;

[0076] In the formula, represents the direct torque, Represent the first, second and third adjustable factors respectively, They represent the dimensionless deviations of the true center of mass sideslip angle and the true yaw rate, represents the fitting weight, represents the power coefficient;

[0077] If the vehicle turns left and the vehicle stability coefficient , then the first braking torque Acting on the left rear wheel, if the vehicle turns left and the vehicle stability coefficient , then the second braking torque Acting on the right front wheel, if the vehicle turns right and the vehicle stability coefficient , then the third braking torque Acting on the left front wheel, if the vehicle turns right and the vehicle stability coefficient , then the fourth braking torque Acting on the right rear wheel to achieve stability control of the vehicle.

[0078] In a second aspect, the present invention provides the following technical solution: a vehicle stability control system, the system comprising:

[0079] A parameter module, used to obtain the vehicle's own parameters and driving parameters, and determine the vehicle tire parameters based on the vehicle's own parameters and the driving parameters;

[0080] A construction module, used for constructing a vehicle multi-degree-of-freedom equation based on the vehicle tire parameters, the vehicle's own parameters and the driving parameters;

[0081] A judgment module, used for inputting the parameters in the multi-degree-of-freedom equation of the vehicle into a Kalman filter for filtering prediction, so as to output a true center-of-mass sideslip angle of the vehicle, and judging the magnitude of the true center-of-mass sideslip angle;

[0082] a first stabilization module, configured to determine a final output torque and apply the final output torque to the vehicle to achieve stability control of the vehicle if the actual center of mass sideslip angle is less than a first preset value;

[0083] a second stabilization module, configured to determine a final turning angle and apply the final turning angle to the vehicle to achieve stability control of the vehicle if the true center of mass sideslip angle is not less than a first preset value and less than a second preset value;

[0084] The third stabilization module is configured to determine a final braking torque and apply the final braking torque to the vehicle if the actual sideslip angle of the center of mass is not less than a second preset value, so as to achieve stability control of the vehicle.

[0085] In a third aspect, the present invention provides the following technical solution: a computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle stability control method as described above when executing the computer program.

[0086] In a fourth aspect, the present invention provides the following technical solution: a storage medium having a computer program stored thereon, wherein the computer program implements the vehicle stability control method as described above when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0088] Figure 1 A flow chart of a vehicle stability control method provided in Embodiment 1 of the present invention;

[0089] Figure 2 A structural block diagram of a vehicle stability control system provided in Embodiment 2 of the present invention;

[0090] Figure 3 A schematic diagram of the hardware structure of a computer provided in another embodiment of the present invention.

[0091] The embodiments of the present invention will be further described below with reference to the accompanying drawings. DETAILED DESCRIPTION

[0092] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0093] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0094] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0095] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0096] Embodiment 1

[0097] In the first embodiment of the present invention, Figure 1 As shown, a vehicle stability control method includes:

[0098] S1, obtaining vehicle parameters and driving parameters, and determining vehicle tire parameters based on the vehicle parameters and the driving parameters;

[0099] Wherein, the step S1 comprises:

[0100] S11, determining the left front wheel longitudinal force based on the self parameter and the driving parameter , left rear wheel longitudinal force , right front wheel longitudinal force The longitudinal force of the right rear wheel :

[0101] ;

[0102] ;

[0103] ;

[0104] ;

[0105] In the formula, They represent the vertical load of the left front wheel, the vertical load of the left rear wheel, the vertical load of the right front wheel and the vertical load of the right rear wheel respectively. Indicates the first to ninth left front wheel fitting coefficients, Indicates the first to ninth left rear wheel fitting coefficients, Indicates the first to ninth right front wheel fitting coefficients, Indicates the first to ninth right rear wheel fitting coefficients, They represent the longitudinal slip rate of the left front wheel, the longitudinal slip rate of the left rear wheel, the longitudinal slip rate of the right front wheel and the longitudinal slip rate of the right rear wheel respectively;

[0106] Among them, for the longitudinal slip rate, ; ; ; ;

[0107] In the formula, are the left front wheel rotation speed, the left rear wheel rotation speed, the right front wheel rotation speed and the right rear wheel rotation speed respectively, They are the left front wheel center speed, the left rear wheel center speed, the right front wheel center speed and the right rear wheel center speed, is the tire radius, which specifically refers to the effective rolling radius of the tire, and the radii of the four wheels are equal by default. The first to ninth left front wheel fitting coefficients, the first to ninth left rear wheel fitting coefficients, the first to ninth right front wheel fitting coefficients, and the first to ninth right rear wheel fitting coefficients can be adjusted and fitted accordingly according to different vehicle models or vehicle parameters.

[0108] S12: Determine the lateral force of the left front wheel based on the self parameter and the driving parameter , lateral force of left rear wheel , right front wheel lateral force The lateral force of the right rear wheel :

[0109] ;

[0110] ;

[0111] ;

[0112] ;

[0113] In the formula, represents the lateral fitting coefficient of the first to eighth left front wheels, Indicates the lateral fitting coefficients of the first to eighth left rear wheels, represents the lateral fitting coefficients of the first to eighth right front wheels, Indicates the lateral fitting coefficients of the first to eighth right rear wheels, They represent the left front wheel slip angle, the left rear wheel slip angle, the right front wheel slip angle and the right rear wheel slip angle respectively;

[0114] Specifically, for the first to eighth left front wheel lateral fitting coefficients, the first to eighth left rear wheel lateral fitting coefficients, the first to eighth right front wheel lateral fitting coefficients, and the first to eighth right rear wheel lateral fitting coefficients, corresponding adjustments and fittings can be made according to different vehicle models or vehicle parameters.

[0115] S2, constructing a vehicle multi-degree-of-freedom equation based on the vehicle tire parameters, the vehicle's own parameters and the driving parameters;

[0116] Specifically, the vehicle multi-degree-of-freedom equation is:

[0117] ;

[0118] ;

[0119] In the formula, , , , They represent the vehicle's lateral speed, longitudinal speed, yaw rate, and sideslip angle, respectively. Indicates time, represents the initial front wheel turning angle of the car, is the yaw moment, represents the moment of inertia of the vehicle around the Z axis, Indicates the distance from the vehicle's center of mass to the front axle, It represents the distance from the vehicle's center of mass to the rear axle. Indicates the distance between the front and rear axles.

[0120] S3, inputting the parameters in the multi-degree-of-freedom equation of the vehicle into a Kalman filter for filtering prediction, so as to output the true center-of-mass sideslip angle of the vehicle, and determining the magnitude of the true center-of-mass sideslip angle;

[0121] Specifically, by inputting each known parameter in the vehicle's multi-degree-of-freedom equation at the previous moment into the unscented Kalman filter to predict the observed quantity and update the state quantity, the true center of mass sideslip angle corresponding to the current moment can be output. At the same time, the corresponding true yaw angular velocity also needs to be output. Since the unscented Kalman filter algorithm is a commonly used algorithm in the prior art, it will not be elaborated here.

[0122] S4. If the true center-of-mass sideslip angle is less than a first preset value, determining a final output torque and applying the final output torque to the vehicle to achieve stability control of the vehicle;

[0123] Specifically, in the present embodiment, the first preset value is 5 degrees, the second preset value is 15 degrees, and because the car can turn left and right, the corresponding real center of mass sideslip angle can be a positive value or a negative value. When judging the real center of mass sideslip angle, the absolute value of the real center of mass sideslip angle is specifically compared with the first preset value and the second preset value. When the real center of mass sideslip angle is less than the first preset value, it indicates that the vehicle is basically in a stable state. Therefore, the vehicle can be made more stable by adjusting the final output torque of each wheel.

[0124] Wherein, the step S4 comprises:

[0125] S41. Calculation of vehicle additional torque Total torque of the vehicle :

[0126] ;

[0127] ;

[0128] In the formula, They are the left front wheel output torque, left rear wheel output torque, right front wheel output torque, and right rear wheel output torque predicted by the Kalman filter. , Respectively represent the tire radius and the distance between the left and right wheels;

[0129] Specifically, for the vehicle's additional torque and total torque, they need to meet the torque requirements and the vehicle's inherent limitations, as well as the yaw torque and the vehicle's overall longitudinal force and lateral force requirements, as well as the road adhesion and motor maximum output limitations.

[0130] S42, based on the additional torque of the vehicle The total torque of the vehicle Calculate the final output torque of the left front wheel , To be determined, the final output torque of the left rear wheel , To be determined Final output torque of the right front wheel , To be determined Final output torque of right rear wheel :

[0131] ;

[0132] ;

[0133] ;

[0134] ;

[0135] In the formula, They represent the vertical load of the left front wheel, the vertical load of the left rear wheel, the vertical load of the right front wheel and the vertical load of the right rear wheel respectively. They respectively represent the road adhesion coefficient of the left front wheel, the road adhesion coefficient of the left rear wheel, the road adhesion coefficient of the right front wheel and the road adhesion coefficient of the right rear wheel.

[0136] S43, based on the final output torque of the left front wheel to be determined , To be determined, the final output torque of the left rear wheel , To be determined Final output torque of the right front wheel , To be determined Final output torque of right rear wheel Determine the final output torque of the left front wheel , Final output torque of left rear wheel , Final output torque of right front wheel , Final output torque of right rear wheel :

[0137] ; ;

[0138] ; .

[0139] S44, the final output torque of the left front wheel , Final output torque of left rear wheel , Final output torque of right front wheel , Final output torque of right rear wheel Acting on corresponding wheels to achieve stability control of the vehicle.

[0140] S5. If the true center of mass sideslip angle is not less than a first preset value and less than a second preset value, determining a final turning angle and applying the final turning angle to the vehicle to achieve stability control of the vehicle;

[0141] Specifically, when the true center of mass sideslip angle is not less than the first preset value and less than the second preset value, it indicates that the vehicle is at risk of rollover or steering loss of control, so it is necessary to increase a certain turning angle for the front wheels of the car to achieve vehicle stability control.

[0142] Wherein, the step S5 comprises:

[0143] S51. Determine the best quality center slip angle and the optimal yaw rate :

[0144] ;

[0145] ;

[0146] In the formula, Indicates the distance from the vehicle's center of mass to the front axle, It represents the distance from the vehicle's center of mass to the rear axle. Indicates the distance between the front and rear axles. represents the initial front wheel turning angle of the car, Indicates the vehicle mass, represents the acceleration due to gravity, represents the vehicle-road adhesion coefficient, Represent the lateral speed of the vehicle, represents the first variable parameter;

[0147] Specifically, the best quality center slip angle here and the optimal yaw rate Specifically refers to the sideslip angle and yaw rate of the center of mass that can ensure that the vehicle is in a stable driving state, and in this embodiment, .

[0148] S52, based on the best quality center slip angle With the optimal yaw rate Calculate the first turning angle separately With the second corner :

[0149] ;

[0150] ;

[0151] In the formula, , , Represent the second, third, and fourth variable parameters respectively, represents the moment of inertia of the vehicle around the Z axis, They represent the true sideslip angle of the center of mass and the true yaw rate, respectively. Indicates the vehicle stability factor;

[0152] in, , where They represent the front wheel cornering stiffness and the rear wheel cornering stiffness respectively. , , .

[0153] S53, determine the best quality center slip angle The first difference between the true center of mass sideslip angle and the optimal yaw rate and a second difference between the actual yaw angular velocity and the actual yaw angular velocity, and determining a first real interval, a first extended interval and a second real interval, a second extended interval within the range of the first difference and the second difference;

[0154] Specifically, for the first difference, the first difference is used as the boundary values ​​on both sides of the X-axis of the two-dimensional coordinate axis, and the differential of the first difference is used as the boundary values ​​on both sides of the Y-axis of the two-dimensional coordinate axis. A preset value is determined within the determined range of the two-dimensional coordinate axis as the first real interval. The first real interval here is the classical domain. Starting from the boundary of the first real interval and expanding outward a certain distance, the first extended interval can be obtained. Similarly, the second real interval and the second extended interval are determined by the same method.

[0155] S54, determining a final turning angle based on the first real interval, the first extended interval, the second real interval, and the second extended interval, and implementing stability control of the vehicle based on the final turning angle;

[0156] Wherein, the step S54 comprises:

[0157] S541: Determine a first degree of intimacy based on the first real interval, the first extended interval, the second real interval, and the second extended interval Second degree of intimacy :

[0158] ;

[0159] ;

[0160] In the formula, Represent the first difference and the second difference respectively, denote the differentials of the first difference and the second difference respectively, Respectively represent the boundary values ​​of the first true interval and the second true interval, Represent the first true interval , the second true interval The boundary value of Respectively represent the boundary values ​​of the first expansion interval and the second expansion interval, Respectively represent the differentials of the boundary values ​​of the first expansion interval and the second expansion interval.

[0161] S542, based on the first intimacy Second degree of intimacy Determine the first final corner With the second final corner :

[0162] ;

[0163] ;

[0164] In the formula, are the first and second adjustment coefficients;

[0165] Specifically, , .

[0166] S543, based on the first final corner With the second final corner Determine the final corner :

[0167] ;

[0168] In the formula, To adjust the weight;

[0169] Specifically, the adjustment weight here may change according to the change of the center of mass sideslip angle. When the center of mass sideslip angle is larger within the range from the first preset value to the second preset value, the adjustment weight The bigger.

[0170] S544, the final corner Acting on the front wheels of the vehicle to achieve stability control of the vehicle.

[0171] S6. If the true center-of-mass sideslip angle is not less than a second preset value, determining a final braking torque and applying the final braking torque to the vehicle to achieve stability control of the vehicle;

[0172] Specifically, when the actual center of mass sideslip angle is not less than the second preset value, it means that the vehicle is about to roll over or lose steering control. Therefore, the vehicle stability control can be achieved by applying the corresponding final braking torque to the corresponding wheels.

[0173] Wherein, the step S6 comprises:

[0174] S61, calculating the yaw equivalent moment of the vehicle :

[0175] ;

[0176] In the formula, represents the moment of inertia of the vehicle around the Z axis, Indicates the distance from the vehicle's center of mass to the front axle, It represents the distance from the vehicle's center of mass to the rear axle. represents the initial front wheel turning angle of the car, Weight coefficient, They represent the true sideslip angle of the center of mass and the true yaw rate, respectively. They represent the lateral force of the left front wheel, the lateral force of the left rear wheel, the lateral force of the right front wheel, and the lateral force of the right rear wheel respectively. Indicates the distance between the front and rear axles. Represents an adjusted positive real number.

[0177] S62, based on the yaw equivalent moment Determine the first braking torque , Second braking torque , the third braking torque , the fourth braking torque :

[0178] ; ;

[0179] ; ;

[0180] ;

[0181] In the formula, represents the direct torque, Represent the first, second and third adjustable factors respectively, They represent the dimensionless deviations of the true center of mass sideslip angle and the true yaw rate, represents the fitting weight, represents the power coefficient;

[0182] in, .

[0183] S63: If the vehicle turns left and the vehicle stability coefficient , then the first braking torque Acting on the left rear wheel, if the vehicle turns left and the vehicle stability coefficient , then the second braking torque Acting on the right front wheel, if the vehicle turns right and the vehicle stability coefficient , then the third braking torque Acting on the left front wheel, if the vehicle turns right and the vehicle stability coefficient , then the fourth braking torque Acting on the right rear wheel to achieve stability control of the vehicle.

[0184] The vehicle stability control method provided in the first embodiment of the present invention first obtains the vehicle's own parameters and driving parameters, and determines the vehicle tire parameters based on the vehicle's own parameters and driving parameters; then constructs a vehicle multi-degree-of-freedom equation based on the vehicle tire parameters, the vehicle's own parameters and the driving parameters; inputs the parameters in the vehicle multi-degree-of-freedom equation into a Kalman filter for filtering and prediction, so as to output the vehicle's true center of mass sideslip angle, and judge the magnitude of the true center of mass sideslip angle; then, if the true center of mass sideslip angle is less than a first preset value, determines a final output torque and applies the final output torque to the vehicle to achieve vehicle stability control; then, if the true center of mass sideslip angle is not less than a first preset value, If the actual sideslip angle of the center of mass is greater than the preset value and is less than the second preset value, the final turning angle is determined and the final turning angle is applied to the vehicle to achieve stability control of the vehicle; then if the actual sideslip angle of the center of mass is not less than the second preset value, the final braking torque is determined and the final braking torque is applied to the vehicle to achieve stability control of the vehicle. The present invention constructs a vehicle degree of freedom equation with high accuracy, and at the same time, according to the different sizes of the sideslip angle of the center of mass of the vehicle, different control methods are used to control the vehicle, which can effectively avoid unstable situations such as rollover and steering loss of control of the vehicle. The control method provided by the present invention has high accuracy, which can improve the handling of the vehicle while ensuring the safety of the vehicle during driving.

[0185] Embodiment 2

[0186] like Figure 2 As shown, in a second embodiment of the present invention, a vehicle stability control system is provided, the system comprising:

[0187] Parameter module 1, used for obtaining vehicle parameters and driving parameters, and determining vehicle tire parameters based on the vehicle parameters and driving parameters;

[0188] A construction module 2 is used to construct a vehicle multi-degree-of-freedom equation based on the vehicle tire parameters, the vehicle's own parameters and the driving parameters;

[0189] A judgment module 3 is used to input the parameters in the multi-degree-of-freedom equation of the vehicle into a Kalman filter for filtering and prediction, so as to output the real center-of-mass sideslip angle of the vehicle and judge the size of the real center-of-mass sideslip angle;

[0190] A first stabilization module 4 is configured to determine a final output torque and apply the final output torque to the vehicle to achieve stability control of the vehicle if the actual center of mass sideslip angle is less than a first preset value;

[0191] A second stabilization module 5 is configured to determine a final turning angle and apply the final turning angle to the vehicle to achieve stability control of the vehicle if the real center of mass sideslip angle is not less than a first preset value and less than a second preset value;

[0192] a third stabilization module 6, configured to determine a final braking torque and apply the final braking torque to the vehicle to achieve stability control of the vehicle if the real center of mass sideslip angle is not less than a second preset value;

[0193] The parameter module 1 comprises:

[0194] The longitudinal force calculation submodule is used to determine the longitudinal force of the left front wheel based on the self parameters and the driving parameters. , left rear wheel longitudinal force , right front wheel longitudinal force The longitudinal force of the right rear wheel :

[0195] ;

[0196] ;

[0197] ;

[0198] ;

[0199] In the formula, They represent the vertical load of the left front wheel, the vertical load of the left rear wheel, the vertical load of the right front wheel and the vertical load of the right rear wheel respectively. Indicates the first to ninth left front wheel fitting coefficients, Indicates the first to ninth left rear wheel fitting coefficients, Indicates the first to ninth right front wheel fitting coefficients, Indicates the first to ninth right rear wheel fitting coefficients, They represent the longitudinal slip rate of the left front wheel, the longitudinal slip rate of the left rear wheel, the longitudinal slip rate of the right front wheel and the longitudinal slip rate of the right rear wheel respectively;

[0200] A lateral force calculation submodule is used to determine the lateral force of the left front wheel based on the self parameters and the driving parameters , lateral force of left rear wheel , right front wheel lateral force The lateral force of the right rear wheel :

[0201] ;

[0202] ;

[0203] ;

[0204] ;

[0205] In the formula, represents the lateral fitting coefficient of the first to eighth left front wheels, Indicates the lateral fitting coefficients of the first to eighth left rear wheels, represents the lateral fitting coefficients of the first to eighth right front wheels, Indicates the lateral fitting coefficients of the first to eighth right rear wheels, They represent the left front wheel slip angle, left rear wheel slip angle, right front wheel slip angle and right rear wheel slip angle respectively.

[0206] The first stabilization module 4 comprises:

[0207] Torque calculation submodule, used to calculate the additional torque of the vehicle Total torque of the vehicle :

[0208] ;

[0209] ;

[0210] In the formula, They are the left front wheel output torque, left rear wheel output torque, right front wheel output torque, and right rear wheel output torque predicted by the Kalman filter. , Respectively represent the tire radius and the distance between the left and right wheels;

[0211] The output torque calculation submodule is used to calculate the additional torque of the vehicle based on the The total torque of the vehicle Calculate the final output torque of the left front wheel , To be determined, the final output torque of the left rear wheel , To be determined Final output torque of the right front wheel , To be determined Final output torque of right rear wheel :

[0212] ;

[0213] ;

[0214] ;

[0215] ;

[0216] In the formula, They represent the vertical load of the left front wheel, the vertical load of the left rear wheel, the vertical load of the right front wheel and the vertical load of the right rear wheel respectively. They represent the road adhesion coefficient of the left front wheel, the road adhesion coefficient of the left rear wheel, the road adhesion coefficient of the right front wheel and the road adhesion coefficient of the right rear wheel respectively;

[0217] The final output torque calculation submodule is used to calculate the final output torque of the left front wheel based on the undetermined , To be determined, the final output torque of the left rear wheel , To be determined Final output torque of the right front wheel , To be determined Final output torque of right rear wheel Determine the final output torque of the left front wheel , Final output torque of left rear wheel , Final output torque of right front wheel , Final output torque of right rear wheel :

[0218] ; ;

[0219] ; ;

[0220] The first stabilizing submodule is used to output the final torque of the left front wheel. , Final output torque of left rear wheel , Final output torque of right front wheel , Final output torque of right rear wheel Acting on corresponding wheels to achieve stability control of the vehicle.

[0221] The second stabilization module 5 comprises:

[0222] Optimal calculation submodule, used to determine the best quality center slip angle and the optimal yaw rate :

[0223] ;

[0224] ;

[0225] In the formula, Indicates the distance from the vehicle's center of mass to the front axle, It represents the distance from the vehicle's center of mass to the rear axle. Indicates the distance between the front and rear axles. represents the initial front wheel turning angle of the car, Indicates the vehicle mass, represents the acceleration due to gravity, represents the vehicle-road adhesion coefficient, Represent the lateral speed of the vehicle, represents the first variable parameter;

[0226] The turning angle calculation submodule is used to calculate the sideslip angle based on the best quality center With the optimal yaw rate Calculate the first turning angle separately With the second corner :

[0227] ;

[0228] ;

[0229] In the formula, , , Represent the second, third, and fourth variable parameters respectively, represents the moment of inertia of the vehicle around the Z axis, They represent the true sideslip angle of the center of mass and the true yaw rate, respectively. Indicates the vehicle stability factor;

[0230] The difference submodule is used to determine the best quality side slip angle The first difference between the true center of mass sideslip angle and the optimal yaw rate and a second difference between the actual yaw angular velocity and the actual yaw angular velocity, and determining a first real interval, a first extended interval and a second real interval, a second extended interval within the range of the first difference and the second difference;

[0231] The second stabilization submodule is used to determine a final turning angle based on the first real interval, the first extended interval, the second real interval, and the second extended interval, and to implement stability control of the vehicle based on the final turning angle.

[0232] The second stabilizing submodule comprises:

[0233] An intimacy unit, configured to determine a first intimacy based on a first real interval, a first extended interval, a second real interval, and a second extended interval Second degree of intimacy :

[0234] ;

[0235] ;

[0236] In the formula, Represent the first difference and the second difference respectively, denote the differentials of the first difference and the second difference respectively, Respectively represent the boundary values ​​of the first true interval and the second true interval, Represent the first true interval , the second true interval The boundary value of Respectively represent the boundary values ​​of the first expansion interval and the second expansion interval, Respectively represent the differentials of the boundary values ​​of the first expansion interval and the second expansion interval;

[0237] Final corner unit for first intimacy based Second degree of intimacy Determine the first final corner With the second final corner :

[0238] ;

[0239] ;

[0240] In the formula, are the first and second adjustment coefficients;

[0241] A final turning angle determining unit is configured to determine a final turning angle based on a first final turning angle. With the second final corner Determine the final corner :

[0242] ;

[0243] In the formula, To adjust the weight;

[0244] The stabilizing unit is used to adjust the final turning angle Acting on the front wheels of the vehicle to achieve stability control of the vehicle.

[0245] The third stabilization module 6 comprises:

[0246] The equivalent moment calculation submodule is used to calculate the yaw equivalent moment of the vehicle. :

[0247] ;

[0248] In the formula, represents the moment of inertia of the vehicle around the Z axis, Indicates the distance from the vehicle's center of mass to the front axle, It represents the distance from the vehicle's center of mass to the rear axle. represents the initial front wheel turning angle of the car, Weight coefficient, They represent the true sideslip angle of the center of mass and the true yaw rate, respectively. They represent the lateral force of the left front wheel, the lateral force of the left rear wheel, the lateral force of the right front wheel, and the lateral force of the right rear wheel respectively. Indicates the distance between the front and rear axles. represents an adjusted positive real number;

[0249] The braking torque calculation submodule is used to calculate the braking torque based on the yaw equivalent torque. Determine the first braking torque , Second braking torque , the third braking torque , the fourth braking torque :

[0250] ; ;

[0251] ; ;

[0252] ;

[0253] In the formula, represents the direct torque, Represent the first, second and third adjustable factors respectively, They represent the dimensionless deviations of the true center of mass sideslip angle and the true yaw rate, represents the fitting weight, represents the power coefficient;

[0254] The third stabilization submodule is used for if the vehicle turns left and the vehicle stability coefficient , then the first braking torque Acting on the left rear wheel, if the vehicle turns left and the vehicle stability coefficient , then the second braking torque Acting on the right front wheel, if the vehicle turns right and the vehicle stability coefficient , then the third braking torque Acting on the left front wheel, if the vehicle turns right and the vehicle stability coefficient , then the fourth braking torque Acting on the right rear wheel to achieve stability control of the vehicle.

[0255] In some other embodiments of the present invention, the embodiments of the present invention provide the following technical solution: a computer, comprising a memory 102, a processor 101, and a computer program stored in the memory 102 and executable on the processor 101, wherein the processor 101 implements the vehicle stability control method as described above when executing the computer program.

[0256] Specifically, the processor 101 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0257] Among them, the memory 102 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 102 may include a hard disk drive (HDD), a floppy disk drive, a solid state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 102 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 102 may be inside or outside the data processing device. In a specific embodiment, the memory 102 is a non-volatile memory. In a specific embodiment, the memory 102 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory (FLASH), or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0258] The memory 102 may be used to store or cache various data files that need to be processed and / or used for communication, as well as possible computer program instructions executed by the processor 101 .

[0259] The processor 101 implements the above-mentioned vehicle stability control method by reading and executing the computer program instructions stored in the memory 102 .

[0260] In some embodiments, the computer may further include a communication interface 103 and a bus 100. Figure 3 As shown, the processor 101, the memory 102, and the communication interface 103 are connected via a bus 100 and communicate with each other.

[0261] The communication interface 103 is used to implement communication between the modules, devices, units and / or equipment in the embodiment of the present invention. The communication interface 103 can also implement data communication with other components such as: external devices, image / data acquisition equipment, databases, external storage, and image / data processing workstations.

[0262] The bus 100 includes hardware, software or both, and couples the components of the computer device to each other. The bus 100 includes but is not limited to at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example and not limitation, bus 100 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, bus 100 may include one or more buses. Although embodiments of the present invention describe and illustrate a particular bus, the present invention contemplates any suitable bus or interconnect.

[0263] The computer can execute the vehicle stability control method of the present invention based on the acquired vehicle stability control system, thereby realizing vehicle stability control.

[0264] In some further embodiments of the present invention, in combination with the above-mentioned vehicle stability control method, the embodiments of the present invention provide the following technical solutions: a storage medium having a computer program stored thereon, and the above-mentioned vehicle stability control method is implemented when the computer program is executed by a processor.

[0265] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0266] More specific examples of readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0267] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0268] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0269] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A vehicle stability control method, characterized in that: include: Acquiring vehicle parameters and driving parameters, and determining vehicle tire parameters based on the vehicle parameters and the driving parameters; Constructing a vehicle multi-degree-of-freedom equation based on the vehicle tire parameters, the vehicle's own parameters and the driving parameters; Inputting the parameters in the multi-degree-of-freedom equation of the vehicle into a Kalman filter for filtering prediction, so as to output the real center-of-mass sideslip angle of the vehicle, and determining the magnitude of the real center-of-mass sideslip angle; If the true center-of-mass sideslip angle is less than a first preset value, determining a final output torque and applying the final output torque to the vehicle to achieve stability control of the vehicle; If the true center-of-mass sideslip angle is not less than a first preset value and less than a second preset value, determining a final turning angle and applying the final turning angle to the vehicle to achieve stability control of the vehicle; If the true center-of-mass sideslip angle is not less than a second preset value, determining a final braking torque and applying the final braking torque to the vehicle to achieve stability control of the vehicle; The step of determining the final output torque and applying the final output torque to the vehicle to achieve stability control of the vehicle includes: Calculate the extra torque of the vehicle Total torque of the vehicle : ； ； In the formula, They are the left front wheel output torque, left rear wheel output torque, right front wheel output torque, and right rear wheel output torque predicted by the Kalman filter. , Respectively represent the tire radius and the distance between the left and right wheels; Based on the additional torque of the vehicle The total torque of the vehicle Calculate the final output torque of the left front wheel , To be determined, the final output torque of the left rear wheel , To be determined Final output torque of the right front wheel , To be determined Final output torque of right rear wheel : ； ； ； ； In the formula, They represent the vertical load of the left front wheel, the vertical load of the left rear wheel, the vertical load of the right front wheel and the vertical load of the right rear wheel respectively. They represent the road adhesion coefficient of the left front wheel, the road adhesion coefficient of the left rear wheel, the road adhesion coefficient of the right front wheel and the road adhesion coefficient of the right rear wheel respectively; Based on the final output torque of the left front wheel to be determined , To be determined, the final output torque of the left rear wheel , To be determined Final output torque of the right front wheel , To be determined Final output torque of right rear wheel Determine the final output torque of the left front wheel , Final output torque of left rear wheel , Final output torque of right front wheel , Final output torque of right rear wheel : ； ； ； ； The final output torque of the left front wheel , Final output torque of left rear wheel , Final output torque of right front wheel , Final output torque of right rear wheel Acting on corresponding wheels to achieve stability control of the vehicle.

2. The vehicle stability control method according to claim 1, characterized in that: The step of determining the vehicle tire parameters based on the self parameters and the driving parameters comprises: Determine the left front wheel longitudinal force based on the self parameter and the driving parameter , left rear wheel longitudinal force , right front wheel longitudinal force The longitudinal force of the right rear wheel : ； ； ； ； In the formula, They represent the vertical load of the left front wheel, the vertical load of the left rear wheel, the vertical load of the right front wheel and the vertical load of the right rear wheel respectively. Indicates the first to ninth left front wheel fitting coefficients, Indicates the fitting coefficients of the first to ninth left rear wheels, Indicates the first to ninth right front wheel fitting coefficients, Indicates the first to ninth right rear wheel fitting coefficients, They represent the longitudinal slip rate of the left front wheel, the longitudinal slip rate of the left rear wheel, the longitudinal slip rate of the right front wheel and the longitudinal slip rate of the right rear wheel respectively; Determine the left front wheel lateral force based on the self parameter and the driving parameter , lateral force of left rear wheel , right front wheel lateral force The lateral force of the right rear wheel : ； ； ； ； In the formula, represents the lateral fitting coefficients of the first to eighth left front wheels, Indicates the lateral fitting coefficients of the first to eighth left rear wheels, represents the lateral fitting coefficients of the first to eighth right front wheels, Indicates the lateral fitting coefficients of the first to eighth right rear wheels, They represent the left front wheel slip angle, left rear wheel slip angle, right front wheel slip angle and right rear wheel slip angle respectively.

3. The vehicle stability control method according to claim 2, characterized in that: In the step of constructing a vehicle multi-degree-of-freedom equation based on the vehicle tire parameters, the vehicle's own parameters and the driving parameters, the vehicle multi-degree-of-freedom equation is specifically: ； ； In the formula, , , , They represent the vehicle's lateral speed, longitudinal speed, yaw rate, and sideslip angle, respectively. Indicates time, represents the initial front wheel turning angle of the car, is the yaw moment, represents the moment of inertia of the vehicle around the Z axis, It represents the distance from the center of mass of the vehicle to the front axle. It represents the distance from the vehicle's center of mass to the rear axle. Indicates the distance between the front and rear axles.

4. The vehicle stability control method according to claim 1, characterized in that: The step of determining a final turning angle and applying the final turning angle to the vehicle to achieve stability control of the vehicle comprises: Determine the optimum slip angle and the optimal yaw rate : ； ； In the formula, It represents the distance from the center of mass of the vehicle to the front axle. It represents the distance from the vehicle's center of mass to the rear axle. Indicates the distance between the front and rear axles. represents the initial front wheel turning angle of the car, Indicates the vehicle mass, represents the acceleration due to gravity, represents the vehicle-road adhesion coefficient, Represent the lateral speed of the vehicle, represents the first variable parameter; Based on the best quality slip angle With the optimal yaw rate Calculate the first turning angle separately With the second corner : ； ； In the formula, , , Represent the second, third, and fourth variable parameters respectively, represents the moment of inertia of the vehicle around the Z axis, They represent the true sideslip angle of the center of mass and the true yaw rate, respectively. Indicates the vehicle stability factor; Determine the optimum slip angle The first difference between the true center of mass sideslip angle and the optimal yaw rate and a second difference between the actual yaw angular velocity and the actual yaw angular velocity, and determining a first real interval, a first extended interval and a second real interval, a second extended interval within the range of the first difference and the second difference; A final turning angle is determined based on the first real interval, the first extended interval, the second real interval, and the second extended interval, and stability control of the vehicle is implemented based on the final turning angle.

5. The vehicle stability control method according to claim 4, characterized in that: The step of determining a final turning angle based on the first real interval, the first extended interval, the second real interval, and the second extended interval, and implementing stability control of the vehicle based on the final turning angle includes: Determine the first intimacy based on the first real interval, the first extended interval, the second real interval, and the second extended interval Second degree of intimacy : ； ； In the formula, Represent the first difference and the second difference respectively, denote the differentials of the first difference and the second difference respectively, Respectively represent the boundary values ​​of the first true interval and the second true interval, Represent the first true interval , the second true interval The boundary value of Respectively represent the boundary values ​​of the first expansion interval and the second expansion interval, Respectively represent the differentials of the boundary values ​​of the first expansion interval and the second expansion interval; Based on the first intimacy Second degree of intimacy Determine the first final corner With the second final corner : ； ； In the formula, are the first and second adjustment coefficients; Based on the first final corner With the second final corner Determine the final corner : ； In the formula, To adjust the weight; The final corner Acting on the front wheels of the vehicle to achieve stability control of the vehicle.

6. The vehicle stability control method according to claim 1, characterized in that: The step of determining a final braking torque and applying the final braking torque to the vehicle to achieve stability control of the vehicle includes: Calculate the yaw equivalent moment of the vehicle : ； In the formula, represents the moment of inertia of the vehicle around the Z axis, It represents the distance from the center of mass of the vehicle to the front axle. It represents the distance from the vehicle's center of mass to the rear axle. represents the initial front wheel turning angle of the car, Weight coefficient, They represent the true sideslip angle of the center of mass and the true yaw rate, respectively. They represent the lateral force of the left front wheel, the lateral force of the left rear wheel, the lateral force of the right front wheel, and the lateral force of the right rear wheel respectively. Indicates the distance between the front and rear axles. represents an adjusted positive real number; Based on the yaw equivalent moment Determine the first braking torque , Second braking torque , the third braking torque , the fourth braking torque : ； ； ； ； ； In the formula, represents the direct torque, Represent the first, second and third adjustable factors respectively, They represent the dimensionless deviations of the true center of mass sideslip angle and the true yaw rate, represents the fitting weight, represents the power coefficient; If the vehicle turns left and the vehicle stability coefficient , then the first braking torque Acting on the left rear wheel, if the vehicle turns left and the vehicle stability coefficient , then the second braking torque Acting on the right front wheel, if the vehicle turns right and the vehicle stability coefficient , then the third braking torque Acting on the left front wheel, if the vehicle turns right and the vehicle stability coefficient , then the fourth braking torque Acting on the right rear wheel to achieve stability control of the vehicle.

7. A vehicle stability control system, the system adopting the vehicle stability control method according to claim 1, characterized in that: The system comprises: A parameter module, used to obtain the vehicle's own parameters and driving parameters, and determine the vehicle tire parameters based on the vehicle's own parameters and the driving parameters; A construction module, used for constructing a vehicle multi-degree-of-freedom equation based on the vehicle tire parameters, the vehicle's own parameters and the driving parameters; A judgment module, used for inputting the parameters in the multi-degree-of-freedom equation of the vehicle into a Kalman filter for filtering prediction, so as to output a true center-of-mass sideslip angle of the vehicle, and judging the magnitude of the true center-of-mass sideslip angle; a first stabilization module, configured to determine a final output torque and apply the final output torque to the vehicle to achieve stability control of the vehicle if the actual center of mass sideslip angle is less than a first preset value; a second stabilization module, configured to determine a final turning angle and apply the final turning angle to the vehicle to achieve stability control of the vehicle if the true center of mass sideslip angle is not less than a first preset value and less than a second preset value; The third stabilization module is configured to determine a final braking torque and apply the final braking torque to the vehicle if the actual center of mass sideslip angle is not less than a second preset value, so as to achieve stability control of the vehicle.

8. A computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the vehicle stability control method according to any one of claims 1 to 6 is implemented.

9. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle stability control method according to any one of claims 1 to 6 is implemented.

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